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WO2020207635A1 - Procédé pour synchroniser des signaux - Google Patents

Procédé pour synchroniser des signaux Download PDF

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Publication number
WO2020207635A1
WO2020207635A1 PCT/EP2020/052302 EP2020052302W WO2020207635A1 WO 2020207635 A1 WO2020207635 A1 WO 2020207635A1 EP 2020052302 W EP2020052302 W EP 2020052302W WO 2020207635 A1 WO2020207635 A1 WO 2020207635A1
Authority
WO
WIPO (PCT)
Prior art keywords
signals
filter
shift
arrangement
order
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2020/052302
Other languages
German (de)
English (en)
Inventor
Juergen Motz
Quang-Minh Le
Patrick LUECKEL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to US17/423,661 priority Critical patent/US11801850B2/en
Priority to CN202080028166.8A priority patent/CN113678003A/zh
Publication of WO2020207635A1 publication Critical patent/WO2020207635A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/0016—Arrangements for synchronising receiver with transmitter correction of synchronization errors
    • H04L7/002—Arrangements for synchronising receiver with transmitter correction of synchronization errors correction by interpolation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/0038—Circuits for comparing several input signals and for indicating the result of this comparison, e.g. equal, different, greater, smaller (comparing pulses or pulse trains according to amplitude)
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
    • G01R19/2506—Arrangements for conditioning or analysing measured signals, e.g. for indicating peak values ; Details concerning sampling, digitizing or waveform capturing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/005—Testing of electric installations on transport means
    • G01R31/006—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks
    • G01R31/007—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks using microprocessors or computers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/0016—Arrangements for synchronising receiver with transmitter correction of synchronization errors
    • H04L7/002—Arrangements for synchronising receiver with transmitter correction of synchronization errors correction by interpolation
    • H04L7/0029—Arrangements for synchronising receiver with transmitter correction of synchronization errors correction by interpolation interpolation of received data signal

Definitions

  • the invention relates to a method for synchronizing signals and an arrangement for carrying out the method.
  • synchronous means that the start time of the measurement is the same for all measured variables.
  • the measurements in the on-board power supply are distributed over several sub-components, each of which uses internal, independent clocks.
  • the transmission of signals between the components causes additional latency times, which further increase the asynchrony. For this reason, calculation results that are based on different signal sources are strongly influenced by the asynchrony of the signals.
  • a trigger line that connects all sensors in the system in order to be able to specify a synchronous measurement start.
  • the presented method is used to synchronize signals from several participants, with a relationship between the signals via a mathematical, in one embodiment a physical, relationship, the signals each being filtered with a first filter in order to determine a shift between the signals, wherein the determined shift represents a measure of the phase shift between the signals.
  • the shift is then eliminated by filtering the signals with a second filter.
  • the method uses the symmetry of the first filter and the second filter to determine and eliminate both a positive and a negative shift. This also enables the same attenuation of all signals.
  • the method is used, for example, in the context of a parameter determination, for example in a cable harness diagnosis, in which a parameter is based on Input and / or measured variables are to be determined. These input or measured variables are represented by signals, which in turn are not synchronized with one another. With the method presented, it is then possible to first synchronize the signals and then, in an embodiment, to determine or estimate the parameter or parameters on the basis of the synchronized signals.
  • a mathematical relationship can take the form of a
  • the filters used are typically simple digital (FIR) filters, which means that few arithmetic operations have to be performed and the existing system is not additionally burdened.
  • FIR simple digital
  • FIR filter finite impulse response
  • the scalability of the system is not limited.
  • all signals are filtered so that the attenuation of the filter affects all signals, which has a positive effect represents a quotient formation, since the attenuation is reduced in this case and thus eliminated.
  • the method also makes it possible to estimate positive and negative delays or delays, which enables the synchronization concept to be used in a wide range of applications. These two effects are made possible by the symmetry of the filter.
  • Fractional Delay filters can be used for ⁇
  • EKF Extended Kalman Filter
  • the method basically enables the synchronization of any number of mathematically coupled signals from two or more participants.
  • a compensation can optionally take place via bias parameters in the EKF, which improves the estimation quality of the delay.
  • the bias parameters can be monitored for plausibility purposes.
  • the method presented is in the area of cable harness diagnosis.
  • the method can also be used in a variety of ways in the field of measurement data fusion.
  • the arrangement presented is used to carry out the method. This arrangement is implemented in hardware and / or software. The arrangement can be integrated in a control unit of a vehicle or designed as such.
  • a computer program is also presented which comprises program code means for performing the steps of the method presented.
  • This computer program can be stored on a machine-readable storage medium.
  • FIG. 1 shows a diagram of a method for estimating parameters.
  • FIG. 2 shows an embodiment of the method presented.
  • FIG. 3 shows a graph to illustrate the filter behavior.
  • FIG. 4 shows a modeling of the paths in front of the filter.
  • FIG. 5 shows the functional principle of synchronization in a graph.
  • FIG. 6 shows a schematic representation of an arrangement for carrying out the method presented.
  • FIG. 1 shows a diagram of a method for estimating parameters.
  • the illustration shows a first block 50 for time updating or prediction with a state prediction 52 and a prediction 54 of the error covariance and a second block 60 for updating the measurement or correction with a calculation 62 of the Kalman gain, an estimate update 64 with measurement and a Update 66 of the error covariance.
  • An initial estimate is present at input 70.
  • FIG. 2 shows a possible embodiment of the method presented in a diagram.
  • the illustration shows a physical system 10, a first Kalman filter 12 for estimating the delay, a fractional delay filter 14 for synchronizing the input and measured variables and a second Kalman filter 16 for estimating the parameters of the physical system 10.
  • Measured variables z (k) 20 and input variables u (k) 22 are coupled to one another via the physical system 10.
  • the physical coupling of these two quantities is given by the resistor R.
  • Input variables u (k) 22 go into the physical system 10, the first Kalman filter 12 and the fractional delay filter 14.
  • the first Kalman filter 12 outputs a shift or delay D 24.
  • the fractional delay filter 14 outputs u (k + D / 2 * t s ), z (k ⁇ D / 2 * t s ) 26, which represent the synchronized input and measured variables.
  • the second Kalman filter 16 outputs estimated parameters 28 of the physical system 12.
  • Measured variables influenced. If the asynchrony can be determined and eliminated, this has a positive effect on the diagnosis result. For the
  • the diagnostic concept is based on time-discrete measured variables that are available with the same sampling rate, but have a time shift from one another, the time shift being D * ts.
  • D represents the delay factor between the signals as a linear factor related to the sampling or sampling time, ts is the sampling rate of the sampling.
  • the following second concept is based on the fact that only positive delays are estimated and synchronized and only the signals of a participant
  • the input and measurement variables u (k), z (k) of all participants are filtered to determine the delay factor D, as shown in FIG. 4 and FIG.
  • a time shift of N / 2 + D / 2 is carried out for the signals from subscriber 1 and a time shift of N / 2-D / 2 for the signals from subscriber 2.
  • the difference in the time shifts between the two participants thus gives the total shift factor D.
  • the time shifting of the signals can be carried out by a so-called fractional delay filter or fractional delay filter.
  • Additional filtering 14 of higher quality can be implemented, for example a Lagrange filter of higher order, the filtered variables of which are then fed to the parameter estimation. This has the advantage that a high signal quality of the delayed signals can be achieved with little computing effort for estimating the factor D.
  • the method can also be set up with just the Kalman filter 12, as a result of which the advantages mentioned above are eliminated.
  • the synchronization thus consists of two components: the Kalman filter 12 for estimating the displacement and the fractional delay filter 14 for
  • the shift D is a linear factor that describes the time shift between the signals as D * t s , where t s is the sampling rate.
  • the synchronized signals are then used by the Kalman filter 16 to estimate the parameters, for example a resistance.
  • FIG. 3 shows in a graph 100, on its abscissa 102 the delay D and on its ordinate 104 the damping
  • is plotted, the behavior of a first order filter, i. H. N 1, based on a curve 106.
  • a double arrow 110 indicates an AD of 0.4.
  • a first arrow 112 points to z (k - (0.5 - D / 2).
  • a second arrow 114 points to h (k - (0.5 + D / 2).
  • a third arrow 116 points to z (k - (0.5 - D / 2)).
  • a fourth arrow 118 indicates h (k - (0.5 + D / 2)).
  • a D of 0.4 means that the signals of the first participant increase by 0.4 * ts, where t s is equal to the sampling time of the signals, the signals of the second
  • a D of -0.4 means that the signals of the first participant lag behind the signals of the second participant by 0.4 * t s .
  • the symmetry of the filter is used, which means that the attenuation
  • N corresponds to the order of the filter.
  • the following is the filtering of the measured variables z (k) and the estimated measured variables, which are transmitted via the filtered input variables u (k) and the
  • the delay D can be estimated with the aid of the noisy signals u (k) and z (k) and the model equation h (k), which is listed below.
  • FIG. 4 shows in a diagram the modeling of the paths upstream of the fractional delay filter (reference number 14 in FIG. 2).
  • the illustration shows an adder 150, a subtracter 152, a first fractional delay filter 154 and a second fractional delay filter 156.
  • the value N / 2 160 and D / 2 162 are present at the input of the adder 150, which results from a multiplication of the
  • Delay D 164 with a factor of 0.5 166 results.
  • Subtracters 152 are also D / 2 162 and a value N / 2 168.
  • the adder outputs N / 2 + D / 2 from 170.
  • the subtracter 152 outputs N / 2-D / 2 from 172.
  • H (k) 180 is input to the first fractional delay filter 154 and N / 2 + D / 2 170.
  • the second Fractional Delay Filter 156 are entered z (k) 182 and N / 2 - D / 2 172.
  • the first Fractional Delay Filter 154 outputs: h (k - (N / 2 + D / 2) * ts)
  • the second Fractional Delay Filter 156 outputs: z (k - (N / 2 - D / 2) * ts)
  • FIG. 5 illustrates in a graph 300, on whose abscissa 302 k and on whose ordinate 304 the voltage U [V] is plotted, the functional principle of synchronization as an interpolation between two measured variables, which are represented by a first signal 310 and a second signal 312 .
  • These signals 310, 312 are asynchronous to one another.
  • the dependencies of the measurements are based on a mathematical relationship, in this case
  • the filtering now means an interpolation between measurement points, which are identified by points in the illustration.
  • the interpolations are made clear by the straight lines in the representation. Deviations in the mathematical context are then corrected by shifting the measurements.
  • the interpolation of the measured variables of both components, namely Ui, U2, I2, enables the signal shift.
  • the interpolated measured variables (Ui) of the first component are shifted by a factor of D / 2 + N / 2 and a
  • FIG. 6 shows, in a schematic, greatly simplified representation, an arrangement for carrying out the method, which is designated as a whole by the reference number 200.
  • this arrangement 200 is designed as a control unit of a vehicle.
  • the arrangement 200 is connected to a first participant or control device 202 and a second participant or control device 204, the first control device 202 sending a first signal 206 and the second control device 204 sending a second signal 208 to the arrangement 200.
  • the two signals 206, 208 which each carry measured values as information, are to be combined for evaluation in the arrangement 200, whereby it should be borne in mind that the two signals 206, 208 are asynchronous to one another.
  • the method presented here can now be used to synchronize the two signals 206, 208, so that the signals 206, 208 can then be evaluated, in an embodiment also in the arrangement 200.
  • the method can of course also be carried out with more than two participants or control units.
  • the control units can be synchronized with one another. However, synchronization between one or more control units and the arrangement 200 can also be carried out.
  • the method can be applied in many ways when following
  • the participants' signals must have a mathematical relationship.
  • the participants' signals must have the same sampling rate, which can be solved by a resampling filter.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Synchronisation In Digital Transmission Systems (AREA)
  • Small-Scale Networks (AREA)

Abstract

L'invention concerne un procédé pour synchroniser des signaux de plusieurs abonnés, un rapport entre les signaux étant établi par l'intermédiaire d'une relation physique, les signaux étant filtrés respectivement au moyen d'un premier filtre (12), afin de déterminer un décalage (24) entre les signaux, le décalage (24) déterminé représentant une grandeur du décalage de phase entre les signaux, et le décalage (24), du fait que les signaux sont respectivement filtrés au moyen d'un deuxième filtre (14), étant ensuite éliminé.
PCT/EP2020/052302 2019-04-12 2020-01-30 Procédé pour synchroniser des signaux Ceased WO2020207635A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US17/423,661 US11801850B2 (en) 2019-04-12 2020-01-30 Method for synchronizing signals
CN202080028166.8A CN113678003A (zh) 2019-04-12 2020-01-30 用于同步信号的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019205326.2 2019-04-12
DE102019205326.2A DE102019205326A1 (de) 2019-04-12 2019-04-12 Verfahren zum Synchronisieren von Signalen

Publications (1)

Publication Number Publication Date
WO2020207635A1 true WO2020207635A1 (fr) 2020-10-15

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US (1) US11801850B2 (fr)
CN (1) CN113678003A (fr)
DE (1) DE102019205326A1 (fr)
WO (1) WO2020207635A1 (fr)

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US11801850B2 (en) 2023-10-31
US20220073087A1 (en) 2022-03-10
CN113678003A (zh) 2021-11-19
DE102019205326A1 (de) 2020-10-15

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